{"id":"https://openalex.org/W4390969440","doi":"https://doi.org/10.1109/lra.2024.3355734","title":"Passive Gravity Compensation for Parallel Mechanism With Both Spatial Translations and Angular Orientations","display_name":"Passive Gravity Compensation for Parallel Mechanism With Both Spatial Translations and Angular Orientations","publication_year":2024,"publication_date":"2024-01-18","ids":{"openalex":"https://openalex.org/W4390969440","doi":"https://doi.org/10.1109/lra.2024.3355734"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3355734","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lra.2024.3355734","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016489969","display_name":"Lixing Jin","orcid":"https://orcid.org/0000-0003-1886-386X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lixing Jin","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China","Xidian University Hangzhou Institute of Technology, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Xidian University Hangzhou Institute of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101461911","display_name":"Xiaolong Zhu","orcid":"https://orcid.org/0000-0002-5736-8389"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolong Zhu","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005287105","display_name":"Jiale Huan","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiale Huan","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100330888","display_name":"Changsheng Li","orcid":"https://orcid.org/0000-0003-2469-4222"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changsheng Li","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064672242","display_name":"Xingguang Duan","orcid":"https://orcid.org/0000-0002-9640-4928"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingguang Duan","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5016489969"],"corresponding_institution_ids":["https://openalex.org/I125839683","https://openalex.org/I149594827"],"apc_list":null,"apc_paid":null,"fwci":0.9853,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.73264824,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"3","first_page":"2279","last_page":"2286"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7061593532562256},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6197661757469177},{"id":"https://openalex.org/keywords/pantograph","display_name":"Pantograph","score":0.6085299849510193},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5972076058387756},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5850562453269958},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5747607350349426},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5575366616249084},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5099977254867554},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.48917439579963684},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4193929433822632},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32615575194358826},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.26503661274909973},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21128058433532715},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19707068800926208},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.161626398563385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13454928994178772},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13057160377502441}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7061593532562256},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6197661757469177},{"id":"https://openalex.org/C20756127","wikidata":"https://www.wikidata.org/wiki/Q722757","display_name":"Pantograph","level":2,"score":0.6085299849510193},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5972076058387756},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5850562453269958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5747607350349426},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5575366616249084},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5099977254867554},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.48917439579963684},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4193929433822632},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32615575194358826},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.26503661274909973},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21128058433532715},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19707068800926208},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.161626398563385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13454928994178772},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13057160377502441},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3355734","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lra.2024.3355734","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2017318298","https://openalex.org/W2031913926","https://openalex.org/W2036754559","https://openalex.org/W2045663437","https://openalex.org/W2076002063","https://openalex.org/W2091450978","https://openalex.org/W2144890264","https://openalex.org/W2261110142","https://openalex.org/W2279885131","https://openalex.org/W2313310186","https://openalex.org/W2524400450","https://openalex.org/W2548830280","https://openalex.org/W2594548803","https://openalex.org/W2735273621","https://openalex.org/W2758233769","https://openalex.org/W2793745555","https://openalex.org/W2929454448","https://openalex.org/W2949045003","https://openalex.org/W2954385853","https://openalex.org/W3003603256","https://openalex.org/W3054123979","https://openalex.org/W3090674524","https://openalex.org/W3112428550","https://openalex.org/W3129562268","https://openalex.org/W3137758223","https://openalex.org/W3138146008","https://openalex.org/W4200250856","https://openalex.org/W4226000804","https://openalex.org/W4283719828","https://openalex.org/W4286495767","https://openalex.org/W4288420616","https://openalex.org/W4303832707"],"related_works":["https://openalex.org/W1655720158","https://openalex.org/W2369361542","https://openalex.org/W1499828956","https://openalex.org/W647759170","https://openalex.org/W2366854666","https://openalex.org/W2492925340","https://openalex.org/W2595523213","https://openalex.org/W2006176066","https://openalex.org/W103088352","https://openalex.org/W2900275675"],"abstract_inverted_index":{"Passive":[0],"compensation":[1,24,54],"has":[2],"been":[3],"proven":[4],"to":[5,51,67,106,113,121],"be":[6,107],"effective":[7],"in":[8,28,91],"reducing":[9],"gravitational":[10],"joint":[11],"loads":[12],"and":[13,33,62,80,109,132,139,146,149],"improving":[14],"the":[15,74,92,101,123,129,142,152],"output":[16],"capability":[17],"of":[18,30],"mechanisms.":[19],"Existing":[20],"methods":[21],"for":[22,55,97,141,151],"passive":[23],"are":[25,42,71,94,135],"not":[26],"satisfactory":[27],"terms":[29],"mechanism":[31],"complexity":[32],"implementation":[34],"convenience,":[35],"while":[36],"cases":[37],"with":[38,59,73],"variable":[39],"angular":[40],"orientations":[41],"more":[43],"complicated.":[44],"This":[45],"letter":[46],"presents":[47],"a":[48],"feasible":[49],"design":[50],"achieve":[52],"approximate":[53],"multi-DOF":[56],"parallel":[57],"mechanisms":[58],"both":[60],"translations":[61],"orientations.":[63,114],"The":[64,125],"counterweights":[65,90],"employed":[66],"provide":[68],"vertical":[69],"forces":[70],"connected":[72],"moving":[75],"platform":[76],"by":[77,137,147],"2T1R":[78],"stands":[79],"pantographs":[81],"as":[82],"external":[83],"components.":[84],"Conventional":[85],"approaches":[86],"using":[87],"springs":[88],"or":[89],"chains":[93],"also":[95],"calculated":[96],"comparisons.":[98],"By":[99],"contrast,":[100],"proposed":[102],"method":[103],"is":[104,119],"easy":[105],"realized":[108],"possesses":[110],"strong":[111],"robustness":[112],"Finally,":[115],"an":[116],"experimental":[117],"prototype":[118],"implemented":[120],"verify":[122],"performance.":[124],"results":[126],"show":[127],"that":[128],"maximum":[130],"torques":[131],"energy":[133],"consumption":[134],"reduced":[136],"49.44%":[138],"78.08%":[140],"translation":[143],"mechanism,":[144],"respectively,":[145],"35.77%":[148],"43.43%":[150],"rotation":[153],"mechanism.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
